@article{trainingneuralnetworkcontrollersusing,
  title = {Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances},
  author = {Shakiba Yaghoubi and Georgios Fainekos and Sriram Sankaranarayanan},
  year = {2020},
  eprint = {2001.08088},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2001.08088v1},
}